This paper presents a novel prototype of wheel-legged rescue robot. Firstly, the key problem of each leg’s structure was formulated and solved, which is a serial-parallel mechanism based on the serial-parallel and leg-wheeled mechanism with three degrees of freedom (3-DOF). Secondly, the coordinate systems are established, based on the space vector chain method, the geometric error source is analyzed. The influence of each error source on the terminal position error is investigated. According to the results of the sensitivity analysis, the error of the universal joint and the revolute joint must be controlled in the process of machining and assembly. Finally, the statistical models are established to describe the influence of each error source on the terminal position error.

Abstract \nThe estimation of runoff and sediment transport in mountainous areas, using the rain simulation method among others, which allows us to control the effect of water erosion on the considerable loss of arable land share and siltation of the other dams.\nThe objective of this study is to quantify runoff and sediment transport and finding mathematical models explaining the relationship between the runoff coefficient \"Kr\" and sediment concentration \"C\".\nThe rainfall simulator used in our experiment is a \"ORSTOM\". We chose the parameters according to the conditions observed in the field, namely a rain intensity (I1 = 30, I2 = 50 and I3 = 80 mm.h-1) a ground slope (P1= 12.5 and P2 = 25%) and soil moisture state (S: Dry, H: damp TH: very humid). These settings are applied to marl representing a high percentage in the mountains of Beni Chougrane in western Algeria.\nThe results show that there\

In this manuscript,\nhybrid fixed point results for four maps using E.A and\ntangential properties in the setting of metric space are\nestablished. Application to system of functional equations are\nalso studied.

Background: Calcium oxide (CaO). Different oxides have been used to stabilize zirconium oxide (ZrO2) in a stable phase. Use of CaO as a stabilizer has been studied previously, however, the commercially prepared cap has been utilized for these purposes. \nAim of study: To derive CaO from cockle shell waste and to utilize cockle shell derived CaO and commercial CaO for stabilizing ZrO2. \nMaterial and Methods: In this study, the physical and mechanical properties of the CaO stabilized Zirconia derived from both sources were characterized using a scanning electron microscope (SEM), an energy dispersive X-ray analyzer (EDX), and X-ray diffraction (XRD) crystals of cockle shell powders were observed by SEM. \nResults: EDX showed that the cockle shells contained more calcium oxide than the commercial calcium oxide, whereas the commercial calcium oxide contained more oxygen than the cockle shells. XRD analyses showed that the cockle shell powder contained aragonite, whereas the commercial calcium oxide contained calcite.\nConclusion: Synthesis of cockle shells powder in the current study showed a high-quality of calcium oxide besides aragonite phase and this result could improve the mechanical properties of dental zirconium.

This study examines the effect of regulatory changes on audit quality in the French context. The literature shows that audit fees represent one of the factors which influence audit quality by representing public data elements which can influence the earnings management. The objective of this research lies in the study of the effect of regulations regarding audits on the amount of audit fees as an element which explains the independence of the auditor.\nA list of hypothesis related to the approached problems is proposed followed by an overview of the different theoretical propositions which are in place. From a sample of French companies in the SBF 250 over the period 2002-2011, the results show that the analysis of the determinants of audit fees which is directly related to the acceptance of the auditor to carry out their duties, our results show that the audit fees is determined by the organizational factor of the company, financial health and existence of Big auditor.

Background: Many recent studies have shown that medicinal plants, which have been used world-wide through the past history in the folkloric medicine, harbor a significant number of novel metabolic compounds with potent pharmacological properties. In several countries, the aerial parts of the plant Scolymus maculatus, have been used both as a food supply and as one of the medicinal plants of their folkloric medicine. The main aim of the current study is investigate the anti-microbial, anti-lipase, anti-oxidant activities and phytochemical profile of methanolic, hexane, aqueous and ethyl acetate fractions, obtained from the aerial parts of Scolymus maculatus. \nMethods: Phytochemical assessments were based on standard analytical methods. The obtained extracts were evaluated for their anti-oxidant capacity and their anti-lipase activity by using the DPPH assay and the porcine pancreatic lipase inhibitory test, respectively. The anti-microbial activities of the obtained extracts were conducted suing the broth microdilution assays. The anti-bacterial activities of the lipophilic and hydrophilic fractions were investigated against several ATCC bacterial strains (Staphylococcus aureus, Escherichia coli, Pseudomonas aeruginosa) as well as against an MRSA clinical isolate. On the other hand, the anti-fungal activities of the extracts were investigated against ATCC Epidermophyton floccosum as well as against a Candida albicans clinical isolate.\nResults: Our data have shown that of all the obtained extracts used in the above mentioned assays, both of methanolic and aqueous fractions have the highest percentages of flavonoids and phenols compounds as well as the best levels of both antioxidant and antilipase activities. In addition, these extracts exhibited various levels of both anti-bacterial and anti-fungal activities. \n\nConclusion: The current study reveals a significant preliminary data that clarify the importance of the usage of S. maculatus in several countries around the world both as one of the food supplies and as one of the important folkloric medicinal plant. Our data provide significant evidence that S. maculatus can be very useful in the prevention and treatment of various clinical conditions such as diabetes mellitus and cancer. Both of the methanolic and the aqueous extracts of S. maculatus, exhibited a significant antioxidant and antilipase activities and contain a high level of constituents with promising- potentials to be used as natural food preservatives and as pharmaceutical natural supplements.

Purpose: \nTo compare the rates of success, relapse and compliance to treatment in patients undergoing alarm therapy or receiving desmopressin for primary monosymptomatic nocturnal enuresis.\nMethods:\nThis retrospective study was performed by reviewing the medical files of patients undergoing alarm therapy (Group 1) or receiving desmopressin (Group 2) for primary monosymptomatic nocturnal enuresis (PMNE), between January 2010 and July 2014. Patients 3rd and 6th month as well as 1st year follow-up data was analysed. Two groups were compared with regard to treatment success, relapse rate and compliance to treatment.\nResults: \nGroup 1 included 64 and Group 2 included 70 children. Relapse rates at 3rd month, 6th month and 1st year were 67.2%, 71.9% and 17.0% for Group 1 and 74.3%, 80.0% and 21.4% for Group 2 respectively. There was no statistically significant difference between relapse rates at any point of follow-up.\nConclusions: \nAlarm therapy and desmopressin have the same success rate and relapse rates for PMNE. Compliance with alarm therapy is higher and we recommend it as first line treatment. On the other hand, desmopressin has low side effect and can also be used.